Disclosed in the present application is a method for a terminal to perform inter-terminal direct communication in a wireless communication system. Specifically, the method comprises: a step for receiving, in a random access phase, random access signals from at least one counterpart terminal; and a step, in a resource allocation phase, for using information for scheduling included in the random access signals to allocate resources for the at least one counterpart terminal, and then transmitting the information of the allocated resources to the at least one counterpart terminal, wherein one time unit for inter-terminal direct communication comprises the random access phase, the resource allocation phase, and a phase for the implementation of inter-terminal direct communication.